Kinematics Study And Mechanism Design On The Detection And Rescue Robot

In the face of all kinds of safety accidents,detect and rescue robot research provides new technical means for carrying out rescue operations.This paper analysis the terrain features of the accident scenes and the shortcomings of the traditional information collecting measures.As the structure is complex and the maintenance cost is high,the current rescue robot can't be widely applied.Design for a mobile robot who can replace people to get into dangerous environment to collect field data will aided rescue process.The superiority of the motion performance of the mobile mechanism determines that the rescue robot can provide more key data for the rescue operation.This paper mainly better the design of crawler robot mobile mechanism,analyze the traditional swing arm type robot arm and a driven wheel coaxial design caused functional redundancy.Track robot design with front arms can also realize the same obstacle climbing,turning,across the gully and other functions.This paper determines the size of components of the robot with improved design,and modeling in SolidWorks of the vehicle body.In the kinetic analysis,the key pose model in climbing boss was established,analyzing the critical condition and establish model in high movement,and optimize critical condition in climbing obstacles and also get the theoretic feasible region and obstacle-crossing height in MATLAB;this paper also establish steering model,analyzing the impact of speed on both sides for the turning radius,establishing the relationship between robot general position coordinates and the angular velocity of the left and right driving wheel,that will help for the robot trajectory tracking test;establishing physical constraint and geometric constraint of the slope of the robot,and getting the relationship between the climbing angle and the friction coefficient in MATLAB;setting up the model of across the gully,and determining the decision conditions and obstacle surmounting mechanism according to different depth and width of the terrain.Based on Lagrange dynamical equation and the robot position and location in climbing boss,a R-R generalized force model was established.And the robot dynamical Lagrange equation was established according to general speed,and also obtained the theoretical basis of driver routines,contact force in robot simulation control based on generalized forces.Finally,in the Adams simulation software,verified that the rescue robot with front arm and the traditional coaxial arm have the same athletic ability,across the boss,up and down the hill,steering,across gully,and got the change curve of corresponding parameters in obstacle-crossing process;and base on each kind of simulation terrain,design for parameters dialogue box to improve the efficiency of simulation tests.By controlling variables,multi-group tests can be conducted.And this paper also verified the effects of different factors on obstacle performance in kinematic analysis and provided the experimental basis for the optimal design of mechanism.